MODEL / CHECKPOINT
PMT RGMT Transformer 20k
Mondo Robotics / HKUST & collaborators
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- Mondo Robotics / HKUST & collaborators
- Type
- Dense
Dense Transformer attention and MLP policy head. - Version
- RGMT Transformer 20k
author checkpoint or pinned source revision - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- 1a92390077d329d22cbcdbf89c4a5c982003fbc8
Checkpoint artifacts
- Author release
- Mondo-Robotics/PMT ↗
- Artifact type
- Author-released checkpoint
- Original file
- rgmt_flat.pt ↗
The adapter pins this published artifact by SHA256. Artifact identity is separate from inference parity.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
38e8070882d9e397a4850a7b76337fb9260155f6dcc1887759db070f2c014f12Inference interface
The adapter declares its control clock and reference window below. Source and configuration describe the observation and action transforms.
Observation requirements
Model-specific handling
Released actor uses joint state, angular velocity/gravity or orientation and reference features. Retain author normalization, history/recurrent state, action processing and declared lookahead; validate numerical independence from actual translation.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 200 ms
- Reference preview
- 200 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json